def test_visualizer_call(self):
"""
test interface for visualizer
"""
# register a visualizer for testing
register_visualizer(BallBeamVisualizer)
self.assertEqual([(BallBeamVisualizer, "BallBeamVisualizer")],
get_registered_visualizers())
def test_visualizer_call(self):
"""
test interface for visualizer
"""
# register a visualizer for testing
register_visualizer(BallBeamVisualizer)
self.assertEqual([(BallBeamVisualizer, "BallBeamVisualizer")],
get_registered_visualizers())
def test_visualizer(self):
self.assertRaises(TypeError, register_visualizer, EvalA1)
register_visualizer(BallInTubeVisualizer)
self.assertIn((BallInTubeVisualizer, "BallInTubeVisualizer"),
get_registered_visualizers())
# -*- coding: utf-8 -*-
import pymoskito as pm
# import custom modules
import model
import controller
import visualizer_mpl
# import visualizer_vtk
if __name__ == '__main__':
# register model
pm.register_simulation_module(pm.Model, model.PendulumModel)
# register controller
pm.register_simulation_module(pm.Controller, controller.BasicController)
# register visualizer
pm.register_visualizer(visualizer_mpl.MplPendulumVisualizer)
# pm.register_visualizer(visualizer_vtk.VtkPendulumVisualizer)
# start the program
pm.run()
from visualization import TwoPendulumVisualizer
from processing import TwoPendulum
if __name__ == "__main__":
# register own modules
register_simulation_module(Model, TwoPendulumModel)
register_simulation_module(Model, TwoPendulumRigidBodyModel)
register_simulation_module(Model, TwoPendulumModelParLin)
register_simulation_module(Controller, LinearStateFeedback)
register_simulation_module(Controller, LinearStateFeedbackParLin)
register_simulation_module(Controller, LjapunovController)
register_simulation_module(Controller, SwingUpController)
register_visualizer(TwoPendulumVisualizer)
register_processing_module(PostProcessingModule, TwoPendulum)
# create an Application instance (needed)
app = QApplication([])
if 1:
# create Simulator
sim = Simulator()
# load default config
sim.load_regimes_from_file("default.sreg")
# apply a regime
sim.apply_regime_by_name("test")
for i in range(3):
for n in range(3):
poke.SetElement(i, n, t[i, n])
poke.SetElement(i, 3, r[i])
actor.PokeMatrix(poke)
def update_scene(self, x):
"""
update the body states
"""
r_ball, t_ball = self.calc_positions(x)
self.set_body_state(self.ballActor, r_ball, t_ball)
pm.register_visualizer(BallInTubeVisualizer)
except ImportError as e:
vtk = None
print("BallTube Visualizer:")
print(e)
print("VTK Visualization not available.")
class MplBallInTubeVisualizer(pm.MplVisualizer):
def __init__(self, q_widget, q_layout):
pm.MplVisualizer.__init__(self, q_widget, q_layout)
self.axes.set_xlim(-0.3, 0.3)
self.axes.set_ylim(-0.05, 1.55)
self.axes.set_aspect("equal")
y1T2_2 = x2_trailer1 + ct2 * car_wheelius + st2 * wheel
# rod 2
x1_joint2 = x1_trailer1 - d2 * ct2
x2_joint2 = x2_trailer1 - d2 * st2
# trailer 2
x1_trailer2 = x1_joint2 - l3 * ct3
x2_trailer2 = x2_joint2 - l3 * st3
# trailer 2 wheel 1
x2T1_1 = x1_trailer2 + st3 * car_wheelius - ct3 * wheel
y2T1_1 = x2_trailer2 - ct3 * car_wheelius - st3 * wheel
x2T1_2 = x1_trailer2 + st3 * car_wheelius + ct3 * wheel
y2T1_2 = x2_trailer2 - ct3 * car_wheelius + st3 * wheel
# trailer wheel 2
x2T2_1 = x1_trailer2 - st3 * car_wheelius - ct3 * wheel
y2T2_1 = x2_trailer2 + ct3 * car_wheelius - st3 * wheel
x2T2_2 = x1_trailer2 - st3 * car_wheelius + ct3 * wheel
y2T2_2 = x2_trailer2 + ct3 * car_wheelius + st3 * wheel
return (xR1_1, yR1_1, xR1_2, yR1_2, xR2_1, yR2_1, xR2_2, yR2_2,
x1_joint1, x2_joint1, x1_trailer1, x2_trailer1, x1T1_1, y1T1_1,
x1T1_2, y1T1_2, x1T2_1, y1T2_1, x1T2_2, y1T2_2, x1_joint2,
x2_joint2, x1_trailer2, x2_trailer2, x2T1_1, y2T1_1, x2T1_2,
y2T1_2, x2T2_1, y2T2_1, x2T2_2, y2T2_2)
pm.register_visualizer(CarVisualizer)
for i in range(3):
for n in range(3):
poke.SetElement(i, n, t[i, n])
poke.SetElement(i, 3, r[i])
actor.PokeMatrix(poke)
def update_scene(self, x):
"""
update the body states
"""
r_beam, t_beam, r_ball, t_ball = self.calc_positions(x)
self.set_body_state(self.beamActor, r_beam, t_beam)
self.set_body_state(self.ballActor, r_ball, t_ball)
pm.register_visualizer(BallBeamVisualizer)
except ImportError as e:
vtk = None
print("BallBeam Visualizer:")
print(e)
print("VTK Visualization not available.")
class MplBallBeamVisualizer(pm.MplVisualizer):
def __init__(self, q_widget, q_layout):
pm.MplVisualizer.__init__(self, q_widget, q_layout)
self.axes.set_xlim(st.x_min_plot, st.x_max_plot)
self.axes.set_ylim(st.y_min_plot, st.y_max_plot)
self.axes.set_aspect("equal")
# rod 2
x1_joint2 = x1_trailer1 - d2 * ct2
x2_joint2 = x2_trailer1 - d2 * st2
# trailer 2
x1_trailer2 = x1_joint2 - l3 * ct3
x2_trailer2 = x2_joint2 - l3 * st3
# trailer 2 wheel 1
x2T1_1 = x1_trailer2 + st3 * car_wheelius - ct3 * wheel
y2T1_1 = x2_trailer2 - ct3 * car_wheelius - st3 * wheel
x2T1_2 = x1_trailer2 + st3 * car_wheelius + ct3 * wheel
y2T1_2 = x2_trailer2 - ct3 * car_wheelius + st3 * wheel
# trailer wheel 2
x2T2_1 = x1_trailer2 - st3 * car_wheelius - ct3 * wheel
y2T2_1 = x2_trailer2 + ct3 * car_wheelius - st3 * wheel
x2T2_2 = x1_trailer2 - st3 * car_wheelius + ct3 * wheel
y2T2_2 = x2_trailer2 + ct3 * car_wheelius + st3 * wheel
return (xR1_1, yR1_1, xR1_2, yR1_2, xR2_1, yR2_1, xR2_2, yR2_2,
x1_joint1, x2_joint1,
x1_trailer1, x2_trailer1,
x1T1_1, y1T1_1, x1T1_2, y1T1_2, x1T2_1, y1T2_1, x1T2_2, y1T2_2,
x1_joint2, x2_joint2,
x1_trailer2, x2_trailer2,
x2T1_1, y2T1_1, x2T1_2, y2T1_2, x2T2_1, y2T2_1, x2T2_2, y2T2_2)
pm.register_visualizer(CarVisualizer)
from control import LinearStateFeedback, LinearStateFeedbackParLin, LjapunovController, SwingUpController
from visualization import TwoPendulumVisualizer
from processing import TwoPendulum
if __name__ == '__main__':
# register own modules
register_simulation_module(Model, TwoPendulumModel)
register_simulation_module(Model, TwoPendulumRigidBodyModel)
register_simulation_module(Model, TwoPendulumModelParLin)
register_simulation_module(Controller, LinearStateFeedback)
register_simulation_module(Controller, LinearStateFeedbackParLin)
register_simulation_module(Controller, LjapunovController)
register_simulation_module(Controller, SwingUpController)
register_visualizer(TwoPendulumVisualizer)
register_processing_module(PostProcessingModule, TwoPendulum)
# create an Application instance (needed)
app = QApplication([])
if 1:
# create Simulator
sim = Simulator()
# load default config
sim.load_regimes_from_file("default.sreg")
# apply a regime
sim.apply_regime_by_name("test")
def test_visualizer(self):
self.assertRaises(TypeError, register_visualizer, EvalA1)
register_visualizer(BallInTubeVisualizer)
self.assertIn((BallInTubeVisualizer, "BallInTubeVisualizer"),
get_registered_visualizers())
for i in range(3):
for n in range(3):
poke.SetElement(i, n, t[i, n])
poke.SetElement(i, 3, r[i])
actor.PokeMatrix(poke)
def update_scene(self, x):
"""
update the body states
"""
r_beam, t_beam, r_ball, t_ball = self.calc_positions(x)
self.set_body_state(self.beamActor, r_beam, t_beam)
self.set_body_state(self.ballActor, r_ball, t_ball)
pm.register_visualizer(BallBeamVisualizer)
except ImportError as e:
vtk = None
print("BallBeam Visualizer:")
print(e)
print("VTK Visualization not available.")
class MplBallBeamVisualizer(pm.MplVisualizer):
def __init__(self, q_widget, q_layout):
pm.MplVisualizer.__init__(self, q_widget, q_layout)
self.axes.set_xlim(st.x_min_plot, st.x_max_plot)
self.axes.set_ylim(st.y_min_plot, st.y_max_plot)
self.axes.set_aspect("equal")
PostProcessingModule, \
Model, Controller
from model import BallBeamModel
from control import FController
from visualization import BallBeamVisualizer
from postprocessing import EvalA1
__author__ = 'stefan'
if __name__ == '__main__':
# register own modules
register_simulation_module(Model, BallBeamModel)
register_simulation_module(Controller, FController)
register_processing_module(PostProcessingModule, EvalA1)
register_visualizer(BallBeamVisualizer)
# create an Application instance (needed)
app = QtGui.QApplication([])
if 0:
# create simulator
sim = Simulator()
# load default config
sim.load_regimes_from_file("default.sreg")
sim.apply_regime_by_name("test-nonlinear")
sim.start_simulation()
sim.show()
QtGui.QApplication.instance().exec_()
t = x[1]
r = x[2]
for i in range(3):
for n in range(3):
poke.SetElement(i, n, r[i, n])
poke.SetElement(i, 3, t[i])
actor.PokeMatrix(poke)
def update_scene(self, x):
"""
update the body states
"""
self.set_body_state(self.calc_positions(x))
pm.register_visualizer(TwoPendulumVisualizer)
except ImportError as e:
vtk = None
print("BallTube Visualizer:")
print(e)
print("VTK Visualization not available.")
class MplTwoPendulumVisualizer(pm.MplVisualizer):
def __init__(self, q_widget, q_layout):
pm.MplVisualizer.__init__(self, q_widget, q_layout)
self.axes.set_xlim(st.x_min_plot, st.x_max_plot)
self.axes.set_ylim(st.y_min_plot, st.y_max_plot)
self.axes.set_aspect("equal")
t = x[1]
r = x[2]
for i in range(3):
for n in range(3):
poke.SetElement(i, n, r[i, n])
poke.SetElement(i, 3, t[i])
actor.PokeMatrix(poke)
def update_scene(self, x):
"""
update the body states
"""
self.set_body_state(self.calc_positions(x))
pm.register_visualizer(TwoPendulumVisualizer)
except ImportError as e:
vtk = None
print("BallTube Visualizer:")
print(e)
print("VTK Visualization not available.")
class MplTwoPendulumVisualizer(pm.MplVisualizer):
def __init__(self, q_widget, q_layout):
pm.MplVisualizer.__init__(self, q_widget, q_layout)
self.axes.set_xlim(st.x_min_plot, st.x_max_plot)
self.axes.set_ylim(st.y_min_plot, st.y_max_plot)
self.axes.set_aspect("equal")
from model import BallInTubeModel, BallInTubeSpringModel
from control import ExactInputOutputLinearisation, OpenLoop
from feedforward import BallInTubeFeedforward
from visualization import BallInTubeVisualizer
from processing import ErrorProcessor
if __name__ == "__main__":
# register Modules
register_simulation_module(Model, BallInTubeModel)
register_simulation_module(Model, BallInTubeSpringModel)
register_simulation_module(Controller, ExactInputOutputLinearisation)
register_simulation_module(Controller, OpenLoop)
register_simulation_module(Feedforward, BallInTubeFeedforward)
register_visualizer(BallInTubeVisualizer)
register_processing_module(PostProcessingModule, ErrorProcessor)
# create an Application instance (needed)
app = QtGui.QApplication([])
if 1:
# create gui
sim = Simulator()
# load default config
sim.load_regimes_from_file("default.sreg")
sim.apply_regime_by_name("test")
# gui.start_simulation()
